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<a href="sim3_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 H. Strasdat</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_SIM_3</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_SIM_3</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="se3__ops_8h.html">se3_ops.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Geometry&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">typedef</span>  Matrix &lt;double, 7, 1&gt; <a class="code" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">Vector7d</a>;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a3ce3dfdcb313ec3483b8cee099402e54">   38</a></span>&#160;  <span class="keyword">typedef</span>  Matrix &lt;double, 7, 7&gt; <a class="code" href="namespaceg2o.html#a3ce3dfdcb313ec3483b8cee099402e54">Matrix7d</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  </div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html">   41</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structg2o_1_1_sim3.html">Sim3</a></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">protected</span>:</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a55dbe5c6ffe22526f20e05f0c23aa832">   46</a></span>&#160;    Quaterniond <a class="code" href="structg2o_1_1_sim3.html#a55dbe5c6ffe22526f20e05f0c23aa832">r</a>;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a3ef879fb13b88732428bd2f2a558d11c">   47</a></span>&#160;    Vector3d <a class="code" href="structg2o_1_1_sim3.html#a3ef879fb13b88732428bd2f2a558d11c">t</a>;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a2cad7c49340494d4bdd28a497e4cb486">   48</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_sim3.html#a2cad7c49340494d4bdd28a497e4cb486">s</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#adf1277575fc039d1ae643ae018e464fe">   52</a></span>&#160;    <a class="code" href="structg2o_1_1_sim3.html#adf1277575fc039d1ae643ae018e464fe">Sim3</a>()</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      r.setIdentity();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      t.fill(0.);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      s=1.;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a3f7bc6953078a87865575192221def7e">   59</a></span>&#160;    <a class="code" href="structg2o_1_1_sim3.html#a3f7bc6953078a87865575192221def7e">Sim3</a>(<span class="keyword">const</span> Quaterniond &amp; r, <span class="keyword">const</span> Vector3d &amp; t, <span class="keywordtype">double</span> s)</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      : r(r),t(t),s(s)</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a8163b7b417a91a758b10593929bae6c5">   64</a></span>&#160;    <a class="code" href="structg2o_1_1_sim3.html#a8163b7b417a91a758b10593929bae6c5">Sim3</a>(<span class="keyword">const</span> Matrix3d &amp; R, <span class="keyword">const</span> Vector3d &amp; t, <span class="keywordtype">double</span> s)</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      : r(Quaterniond(R)),t(t),s(s)</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    }</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a252f62d72e8449ecc929a6ca0320fcbc">   70</a></span>&#160;    <a class="code" href="structg2o_1_1_sim3.html#a252f62d72e8449ecc929a6ca0320fcbc">Sim3</a>(<span class="keyword">const</span> Vector7d &amp; update)</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      Vector3d omega;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3; i++)</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        omega[i]=update[i];</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      Vector3d upsilon;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3; i++)</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        upsilon[i]=update[i+3];</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keywordtype">double</span> sigma = update[6];</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">double</span> theta = omega.norm();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      Matrix3d Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      s = std::exp(sigma);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      Matrix3d Omega2 = Omega*Omega;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      Matrix3d I;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      I.setIdentity();</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      Matrix3d R;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keywordtype">double</span> eps = 0.00001;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">double</span> A,B,C;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordflow">if</span> (fabs(sigma)&lt;eps)</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        C = 1;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordflow">if</span> (theta&lt;eps)</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        {</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          A = 1./2.;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          B = 1./6.;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          R = (I + Omega + Omega*Omega);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        {</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <span class="keywordtype">double</span> theta2= theta*theta;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          A = (1-cos(theta))/(theta2);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          B = (theta-sin(theta))/(theta2*theta);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          R = I + sin(theta)/theta *Omega + (1-cos(theta))/(theta*theta)*Omega2;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        }</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">else</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        C=(s-1)/sigma;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">if</span> (theta&lt;eps)</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="keywordtype">double</span> sigma2= sigma*sigma;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          A = ((sigma-1)*s+1)/sigma2;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          B= ((0.5*sigma2-sigma+1)*s)/(sigma2*sigma);</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          R = (I + Omega + Omega2);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          R = I + sin(theta)/theta *Omega + (1-cos(theta))/(theta*theta)*Omega2;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          <span class="keywordtype">double</span> a=s*sin(theta);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          <span class="keywordtype">double</span> b=s*cos(theta);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <span class="keywordtype">double</span> theta2= theta*theta;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keywordtype">double</span> sigma2= sigma*sigma;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <span class="keywordtype">double</span> c=theta2+sigma2;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          A = (a*sigma+ (1-b)*theta)/(theta*c);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          B = (C-((b-1)*sigma+a*theta)/(c))*1./(theta2);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      r = Quaterniond(R);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      Matrix3d W = A*Omega + B*Omega2 + C*I;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      t = W*upsilon;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    }</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a577ba985864cab536688123df6063b39">  144</a></span>&#160;     Vector3d <a class="code" href="structg2o_1_1_sim3.html#a577ba985864cab536688123df6063b39">map</a> (<span class="keyword">const</span> Vector3d&amp; xyz)<span class="keyword"> const </span>{</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">return</span> s*(r*xyz) + t;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a63fedc1606012b8ce197554f6489080b">  148</a></span>&#160;    Vector7d <a class="code" href="structg2o_1_1_sim3.html#a63fedc1606012b8ce197554f6489080b">log</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      Vector7d res;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">double</span> sigma = std::log(s);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      </div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;   </div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      Vector3d omega;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      Vector3d upsilon;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      Matrix3d R = r.toRotationMatrix();</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; 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     {</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        C = 1;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordflow">if</span> (d&gt;1-eps)</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          omega=0.5*<a class="code" href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">deltaR</a>(R);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          A = 1./2.;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          B = 1./6.;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        }</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <span class="keywordtype">double</span> theta = acos(d);</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          <span class="keywordtype">double</span> theta2 = theta*theta;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          omega = theta/(2*sqrt(1-d*d))*<a class="code" href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">deltaR</a>(R);</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          A = (1-cos(theta))/(theta2);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          B = (theta-sin(theta))/(theta2*theta);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        }</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      }</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordflow">else</span></div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        C=(s-1)/sigma;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordflow">if</span> (d&gt;1-eps)</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        {</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          <span class="keywordtype">double</span> sigma2 = sigma*sigma;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          omega=0.5*<a class="code" href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">deltaR</a>(R);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          A = ((sigma-1)*s+1)/(sigma2);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          B = ((0.5*sigma2-sigma+1)*s)/(sigma2*sigma);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        }</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        {</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          <span class="keywordtype">double</span> theta = acos(d);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          omega = theta/(2*sqrt(1-d*d))*<a class="code" href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">deltaR</a>(R);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <span class="keywordtype">double</span> theta2 = theta*theta;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          <span class="keywordtype">double</span> a=s*sin(theta);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          <span class="keywordtype">double</span> b=s*cos(theta);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; 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     </div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#aad881b9ea79640adac90d8ae58b4a5f0">  233</a></span>&#160;    <a class="code" href="structg2o_1_1_sim3.html">Sim3</a> <a class="code" href="structg2o_1_1_sim3.html#aad881b9ea79640adac90d8ae58b4a5f0">inverse</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="structg2o_1_1_sim3.html">Sim3</a>(r.conjugate(), r.conjugate()*((-1./s)*t), 1./s);</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    }</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    </div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a39eb382deb0f9c006d18b9e5241ac076">  239</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_sim3.html#a39eb382deb0f9c006d18b9e5241ac076">operator[]</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      assert(i&lt;8);</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">if</span> (i&lt;4){</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; 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<a class="code" href="structg2o_1_1_sim3.html#ac48ebd09209c2484896f2dfe8bc673bf">operator[]</a>(<span class="keywordtype">int</span> i)</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    {</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      assert(i&lt;8);</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordflow">if</span> (i&lt;4){</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">return</span> r.coeffs()[i];</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      }</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keywordflow">if</span> (i&lt;7)</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; 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   }</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;</div><div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a6543e41cd4dbf1868c0b89c83c3810d3">  274</a></span>&#160;    <a class="code" href="structg2o_1_1_sim3.html">Sim3</a>&amp; <a class="code" href="structg2o_1_1_sim3.html#a6543e41cd4dbf1868c0b89c83c3810d3">operator *=</a>(<span class="keyword">const</span> <a class="code" href="structg2o_1_1_sim3.html">Sim3</a>&amp; other){</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <a class="code" href="structg2o_1_1_sim3.html">Sim3</a> ret=(*this)*other;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      *<span class="keyword">this</span>=ret;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    }</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a835afb1f821f19ad4ef3c7c2408c8660">  280</a></span>&#160;    <span class="keyword">inline</span> <span class="keyword">const</span> Vector3d&amp; <a class="code" href="structg2o_1_1_sim3.html#a835afb1f821f19ad4ef3c7c2408c8660">translation</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> t;}</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;</div><div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a1429af2d97c44cd364d748ef07998593">  282</a></span>&#160;    <span class="keyword">inline</span> Vector3d&amp; <a class="code" href="structg2o_1_1_sim3.html#a1429af2d97c44cd364d748ef07998593">translation</a>() {<span class="keywordflow">return</span> t;}</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a617d35def39dbe374432980982bb9073">  284</a></span>&#160;    <span class="keyword">inline</span> <span class="keyword">const</span> Quaterniond&amp; <a class="code" href="structg2o_1_1_sim3.html#a617d35def39dbe374432980982bb9073">rotation</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> r;}</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;</div><div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a4528a501c958cd71fcc6fdef74db99cc">  286</a></span>&#160;    <span class="keyword">inline</span> Quaterniond&amp; <a class="code" href="structg2o_1_1_sim3.html#a4528a501c958cd71fcc6fdef74db99cc">rotation</a>() {<span class="keywordflow">return</span> r;}</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a1eede88e7b9485c1de90a0c79cb095a3">  288</a></span>&#160;    <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code" href="structg2o_1_1_sim3.html#a1eede88e7b9485c1de90a0c79cb095a3">scale</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> s;}</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="structg2o_1_1_sim3.html#a062649c3de81c514518e1095c0e49eeb">  290</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">double</span>&amp; <a class="code" href="structg2o_1_1_sim3.html#a062649c3de81c514518e1095c0e49eeb">scale</a>() {<span class="keywordflow">return</span> s;}</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  };</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;</div><div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a8ab958f2ec4a80e849def091d38f1131">  294</a></span>&#160;  <span class="keyword">inline</span> std::ostream&amp; <a class="code" href="namespaceg2o.html#a018b0f839c5efbe3cfadca1e136f7a97">operator &lt;&lt;</a>(std::ostream&amp; out_str,</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                                   <span class="keyword">const</span> <a class="code" href="structg2o_1_1_sim3.html">Sim3</a>&amp; sim3)</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  {</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    out_str &lt;&lt; sim3.<a class="code" href="structg2o_1_1_sim3.html#a617d35def39dbe374432980982bb9073">rotation</a>().coeffs() &lt;&lt; std::endl;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    out_str &lt;&lt; sim3.<a class="code" href="structg2o_1_1_sim3.html#a835afb1f821f19ad4ef3c7c2408c8660">translation</a>() &lt;&lt; std::endl;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    out_str &lt;&lt; sim3.<a class="code" href="structg2o_1_1_sim3.html#a1eede88e7b9485c1de90a0c79cb095a3">scale</a>() &lt;&lt; std::endl;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">return</span> out_str;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  }</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="structg2o_1_1_sim3_html_a1429af2d97c44cd364d748ef07998593"><div class="ttname"><a href="structg2o_1_1_sim3.html#a1429af2d97c44cd364d748ef07998593">g2o::Sim3::translation</a></div><div class="ttdeci">Vector3d &amp; translation()</div><div class="ttdef"><b>Definition:</b> sim3.h:282</div></div>
<div class="ttc" id="namespaceg2o_html_a4740ec41130f2ecc628c81f71261c8de"><div class="ttname"><a href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">g2o::Vector7d</a></div><div class="ttdeci">Matrix&lt; double, 7, 1 &gt; Vector7d</div><div class="ttdef"><b>Definition:</b> se3quat.h:39</div></div>
<div class="ttc" id="namespaceg2o_html_a018b0f839c5efbe3cfadca1e136f7a97"><div class="ttname"><a href="namespaceg2o.html#a018b0f839c5efbe3cfadca1e136f7a97">g2o::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const G2OBatchStatistics &amp;st)</div><div class="ttdef"><b>Definition:</b> batch_stats.cpp:48</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a4528a501c958cd71fcc6fdef74db99cc"><div class="ttname"><a href="structg2o_1_1_sim3.html#a4528a501c958cd71fcc6fdef74db99cc">g2o::Sim3::rotation</a></div><div class="ttdeci">Quaterniond &amp; rotation()</div><div class="ttdef"><b>Definition:</b> sim3.h:286</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html"><div class="ttname"><a href="structg2o_1_1_sim3.html">g2o::Sim3</a></div><div class="ttdef"><b>Definition:</b> sim3.h:41</div></div>
<div class="ttc" id="namespaceg2o_html_a2e39915fb420fd7dc2d3802435e4a6a9"><div class="ttname"><a href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">g2o::deltaR</a></div><div class="ttdeci">Vector3d deltaR(const Matrix3d &amp;R)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:41</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a617d35def39dbe374432980982bb9073"><div class="ttname"><a href="structg2o_1_1_sim3.html#a617d35def39dbe374432980982bb9073">g2o::Sim3::rotation</a></div><div class="ttdeci">const Quaterniond &amp; rotation() const</div><div class="ttdef"><b>Definition:</b> sim3.h:284</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_adf1277575fc039d1ae643ae018e464fe"><div class="ttname"><a href="structg2o_1_1_sim3.html#adf1277575fc039d1ae643ae018e464fe">g2o::Sim3::Sim3</a></div><div class="ttdeci">Sim3()</div><div class="ttdef"><b>Definition:</b> sim3.h:52</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="se3__ops_8h_html"><div class="ttname"><a href="se3__ops_8h.html">se3_ops.h</a></div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a2cad7c49340494d4bdd28a497e4cb486"><div class="ttname"><a href="structg2o_1_1_sim3.html#a2cad7c49340494d4bdd28a497e4cb486">g2o::Sim3::s</a></div><div class="ttdeci">double s</div><div class="ttdef"><b>Definition:</b> sim3.h:48</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a835afb1f821f19ad4ef3c7c2408c8660"><div class="ttname"><a href="structg2o_1_1_sim3.html#a835afb1f821f19ad4ef3c7c2408c8660">g2o::Sim3::translation</a></div><div class="ttdeci">const Vector3d &amp; translation() const</div><div class="ttdef"><b>Definition:</b> sim3.h:280</div></div>
<div class="ttc" id="namespaceg2o_html_a3ce3dfdcb313ec3483b8cee099402e54"><div class="ttname"><a href="namespaceg2o.html#a3ce3dfdcb313ec3483b8cee099402e54">g2o::Matrix7d</a></div><div class="ttdeci">Matrix&lt; double, 7, 7 &gt; Matrix7d</div><div class="ttdef"><b>Definition:</b> sim3.h:38</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a062649c3de81c514518e1095c0e49eeb"><div class="ttname"><a href="structg2o_1_1_sim3.html#a062649c3de81c514518e1095c0e49eeb">g2o::Sim3::scale</a></div><div class="ttdeci">double &amp; scale()</div><div class="ttdef"><b>Definition:</b> sim3.h:290</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_aad881b9ea79640adac90d8ae58b4a5f0"><div class="ttname"><a href="structg2o_1_1_sim3.html#aad881b9ea79640adac90d8ae58b4a5f0">g2o::Sim3::inverse</a></div><div class="ttdeci">Sim3 inverse() const</div><div class="ttdef"><b>Definition:</b> sim3.h:233</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a3f7bc6953078a87865575192221def7e"><div class="ttname"><a href="structg2o_1_1_sim3.html#a3f7bc6953078a87865575192221def7e">g2o::Sim3::Sim3</a></div><div class="ttdeci">Sim3(const Quaterniond &amp;r, const Vector3d &amp;t, double s)</div><div class="ttdef"><b>Definition:</b> sim3.h:59</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a252f62d72e8449ecc929a6ca0320fcbc"><div class="ttname"><a href="structg2o_1_1_sim3.html#a252f62d72e8449ecc929a6ca0320fcbc">g2o::Sim3::Sim3</a></div><div class="ttdeci">Sim3(const Vector7d &amp;update)</div><div class="ttdef"><b>Definition:</b> sim3.h:70</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a55dbe5c6ffe22526f20e05f0c23aa832"><div class="ttname"><a href="structg2o_1_1_sim3.html#a55dbe5c6ffe22526f20e05f0c23aa832">g2o::Sim3::r</a></div><div class="ttdeci">Quaterniond r</div><div class="ttdef"><b>Definition:</b> sim3.h:46</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a3ef879fb13b88732428bd2f2a558d11c"><div class="ttname"><a href="structg2o_1_1_sim3.html#a3ef879fb13b88732428bd2f2a558d11c">g2o::Sim3::t</a></div><div class="ttdeci">Vector3d t</div><div class="ttdef"><b>Definition:</b> sim3.h:47</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a6543e41cd4dbf1868c0b89c83c3810d3"><div class="ttname"><a href="structg2o_1_1_sim3.html#a6543e41cd4dbf1868c0b89c83c3810d3">g2o::Sim3::operator *=</a></div><div class="ttdeci">Sim3 &amp; operator *=(const Sim3 &amp;other)</div><div class="ttdef"><b>Definition:</b> sim3.h:274</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a8163b7b417a91a758b10593929bae6c5"><div class="ttname"><a href="structg2o_1_1_sim3.html#a8163b7b417a91a758b10593929bae6c5">g2o::Sim3::Sim3</a></div><div class="ttdeci">Sim3(const Matrix3d &amp;R, const Vector3d &amp;t, double s)</div><div class="ttdef"><b>Definition:</b> sim3.h:64</div></div>
<div class="ttc" id="namespaceg2o_html_adb3143a37b9bc002f4f7b6423061ef81"><div class="ttname"><a href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">g2o::skew</a></div><div class="ttdeci">Matrix3d skew(const Vector3d &amp;v)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:28</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a1eede88e7b9485c1de90a0c79cb095a3"><div class="ttname"><a href="structg2o_1_1_sim3.html#a1eede88e7b9485c1de90a0c79cb095a3">g2o::Sim3::scale</a></div><div class="ttdeci">const double &amp; scale() const</div><div class="ttdef"><b>Definition:</b> sim3.h:288</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a21866660d0feb2143033b250134ff2e1"><div class="ttname"><a href="structg2o_1_1_sim3.html#a21866660d0feb2143033b250134ff2e1">g2o::Sim3::operator *</a></div><div class="ttdeci">Sim3 operator *(const Sim3 &amp;other) const</div><div class="ttdef"><b>Definition:</b> sim3.h:266</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_ac48ebd09209c2484896f2dfe8bc673bf"><div class="ttname"><a href="structg2o_1_1_sim3.html#ac48ebd09209c2484896f2dfe8bc673bf">g2o::Sim3::operator[]</a></div><div class="ttdeci">double &amp; operator[](int i)</div><div class="ttdef"><b>Definition:</b> sim3.h:252</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a577ba985864cab536688123df6063b39"><div class="ttname"><a href="structg2o_1_1_sim3.html#a577ba985864cab536688123df6063b39">g2o::Sim3::map</a></div><div class="ttdeci">Vector3d map(const Vector3d &amp;xyz) const</div><div class="ttdef"><b>Definition:</b> sim3.h:144</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a39eb382deb0f9c006d18b9e5241ac076"><div class="ttname"><a href="structg2o_1_1_sim3.html#a39eb382deb0f9c006d18b9e5241ac076">g2o::Sim3::operator[]</a></div><div class="ttdeci">double operator[](int i) const</div><div class="ttdef"><b>Definition:</b> sim3.h:239</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a63fedc1606012b8ce197554f6489080b"><div class="ttname"><a href="structg2o_1_1_sim3.html#a63fedc1606012b8ce197554f6489080b">g2o::Sim3::log</a></div><div class="ttdeci">Vector7d log() const</div><div class="ttdef"><b>Definition:</b> sim3.h:148</div></div>
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